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Head-navigated locomotion of a snake-like robot for its autonomous obstacle avoidance
Wu XD(吴小东); Ma SG(马书根)
作者部门机器人学研究室
会议名称IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
会议日期October 18-22, 2010
会议地点Taipei, Taiwan
会议录名称IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2010
页码401-406
收录类别EI ; CPCI(ISTP)
EI收录号20110313602752
WOS记录号WOS:000287672000135
产权排序2
ISSN号2153-0858
ISBN号978-1-4244-6675-7
摘要Inspired from the natural motion of snakes, a head-navigated locomotion is proposed for snake-like robots in this paper. Different from the traditional serpentine motion, the head of the snake-like robot would always maintain its direction along the forward direction of the whole robot. By utilizing this particular characteristic, the obstacles in front of the undulatory motion could be detected conveniently by a distance sensor installed on the head module. Based on the analysis of the configuration of the snake-like robot in the head-navigated locomotion, CPG-based control is introduced for the control system. Two kinds of control strategies for the realization of the automatic obstacle avoidance are proposed. Both simulation and experiment have been carried out to verify the proposed motion pattern.
语种英语
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被引频次:5[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20061
专题机器人学研究室
通讯作者Wu XD(吴小东)
作者单位1.Department of Robotics, Ritsumeikan University, 525-8577 Shiga, Japan
2.Shenyang Institute of Automation, CAS, China
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Wu XD,Ma SG. Head-navigated locomotion of a snake-like robot for its autonomous obstacle avoidance[C]. Piscataway, NJ, USA:IEEE Computer Society,2010:401-406.
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